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Related Manuals for TERSUS Precis-BX305
Summary of Contents for TERSUS Precis-BX305
- Page 1 User Manual Precis-BX305 Precise GNSS RTK board www.tersus-gnss.com Aug, 2016...
- Page 2 All Information in this document is subject to change without notice and does not reflect the commitment on Tersus GNSS. No part of this manual may be reproduced or transmitted by all means without authorization of Tersus GNSS. The software described in this document must be used in terms of the agreement.
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Page 3: Table Of Contents
Electronic Characteristics ..................... 3 1.4.1. Absolute Maximum Ratings ..................3 1.4.2. Operation Ratings ....................4 1.4.3. Port Description (Precis-BX305 V1.1 & V2.0) ............5 1.4.3.1. Micro_USB Power Supply Port ................8 1.4.3.2. COM1/COM2 Port ....................8 1.4.3.3. LED Indicator ......................10 1.4.3.4. - Page 4 Output Control Commands ..................37 3.5.1. NMEA talker configuration (NMEATALKER) ............. 37 3.5.2. Configuring NMEA output (LOG NMEA) ............37 3.5.3. Configuring raw observation output (LOG RANGECMPB) ......... 37 3.5.4. Configuring GPS ephemeris output (LOG GPSEPHEMB) ........38 TERSUS-GNSS III...
- Page 5 5.1.5. GSA sentence ......................48 5.1.6. GSV sentence ......................49 5.2. RTCM Messages ......................49 5.2.1. RTCM 2 messages ....................49 5.2.2. RTCM 3 messages ....................50 RTK Configure Example ..................... 52 Trouble Shooting ......................... 53 Terminology ........................54 TERSUS-GNSS IV...
- Page 6 TERSUS-GNSS V...
- Page 7 Figure 6 Schematic of Internal Micro_USB Connector ..............8 Figure 7 Back Panel View of Precis-BX305 Board ................8 Figure 8 Labels of Precis-BX305 V1.1 & V2.0 UART_To_USB Converter Cables ...... 11 Figure 9 Connection between Precis-BX305 and UART_to_USB Converter ........ 12 Figure 10 Labels of Precis-BX305 V1.1 &...
- Page 8 Table 3 Description of Precis-BX305 Electronic Interfaces ............. 7 Table 4 Pin list of Precis-BX305 V1.1 COM1 and COM2 Port............8 Table 5 Pin definition of Precis-BX305 V1.1 COM1 and COM2 Port ..........9 Table 6 Pin list of Precis-BX305 V2.0 COM1 and COM2 Port............9 Table 7 Pin list of Precis-BX305 V2.0 COM1 and COM2 Port............
- Page 9 Table 38 Collection of supported RTCM2 message ................ 50 Table 39 Collection of supported RTCM3.2 message types ............50 TERSUS-GNSS VIII...
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Page 10: Introduction
1. Introduction 1.1. Overview The Precis-BX305 board provides millimeter level carrier phase observation as well as centimeter level RTK positioning accuracy. It also supports chip level multi path mitigation, RTK positioning and instant heading technology, especially suitable for high accuracy navigation and positioning used in moving objects like cars, unmanned aerial vehicles(UAV) etc. -
Page 11: 1.3. System Overview
INS: INS integrates an IMU with 3-axis accelerometer, a 3-axis gyroscopes and a 3-axis magnetic sensor, can provide motion tracking information under obstacles environment where GNSS signal is lost. IO: Includes COMs, LED and power supply etc. interface. TERSUS-GNSS 2... -
Page 12: 1.4. Electronic Characteristics
These are stress ratings only. The product is not protected against overvoltage or reversed voltages. If necessary, voltage spikes exceeding the power supply voltage specification, given in table above, must be limited to values within the specified boundaries by using appropriate protection diodes. TERSUS-GNSS 3... -
Page 13: Operation Ratings
Figure Operation Topt ° C temperature Note: All specifications are at an ambient temperature of 25° C. Extreme operating temperatures can significantly impact specification values. Applications operating near the temperature limits should be tested to ensure the specification. TERSUS-GNSS 4... -
Page 14: Port Description (Precis-Bx305 V1.1 & V2.0)
Port Description (Precis-BX305 V1.1 & V2.0) Figure 3 Port Description of Precis-BX305 Note: The difference between Precis-BX305 V1.1 and Precis-BX305 V2.0 are pin definition in COM1 and COM2 ports. The pin descriptions of V1.1 and V2.0 COM1 and COM2 are labeled independently at the back of Precis-BX305 (See Figure 4). -
Page 15: Figure 4 Identify Precis-Bx305 V1.1 & V2.0 And Pin Definitions
Figure 4 Identify Precis-BX305 V1.1 & V2.0 and Pin Definitions Note: No labels on Precis-BX305 receivers and accessory cables before August 2016, the product version could be found on the top left corner of Precis-BX305 (See Figure 5). TERSUS-GNSS 6... -
Page 16: Figure 5 Identify Precis-Bx305 V1.1 & V2.0 By Printed Labels
Figure 5 Identify Precis-BX305 V1.1 & V2.0 by Printed Labels Table 3 Description of Precis-BX305 Electronic Interfaces Interfaces Descriptions COM1 5pin PicoBlade receptacle connector with LVTTL voltage level COM2 5pin PicoBlade receptacle connector with LVTTL voltage level Indicate running status... -
Page 17: Micro_Usb Power Supply Port
:pin1 :pin 2,3,4,5 from left to right Figure 7 Back Panel View of Precis-BX305 Board ■ Precis-BX305 V1.1 COM1 and COM2 port pin list and pin definition Table 4 Pin list of Precis-BX305 V1.1 COM1 and COM2 Port Pin1 Pin2... -
Page 18: Table 5 Pin Definition Of Precis-Bx305 V1.1 Com1 And Com2 Port
Table 5 Pin definition of Precis-BX305 V1.1 COM1 and COM2 Port Port Pin number Name Description COM1 PIN1 Input Power Supply for the whole BOX. The voltage range is from 4.3V~6.0V PIN2 VCC_3V3 Output Power Supply for the accessories. The voltage range is from 3.3V... -
Page 19: Led Indicator
1.4.3.3. LED Indicator The LED indicators show the operational status of Precis-BX305 board. The functions of these indicators are defined in Table 8. The Precis-BX305 performs self-check and initialization procedure before it starts work. If you are in trouble, please go to chapter 7 for trouble shooting. -
Page 20: Usb Port
USB port is not available in V_1.1 and V_2.0. 1.5. Accessories and connection There are two types of cables for Precis-BX305. One is for Precis-BX305 V1.1 and the other is for Precis-BX305 V2.0. The version and the pin definition are labeled on the cables. -
Page 21: Data Logger Module And Cable
2.6). Data logger cable is to connect the board with data logger from COM1. The following are the pin definition of the two versions. Figure 10 Labels of Precis-BX305 V1.1 & V2.0 Data logger Cables TERSUS-GNSS 12... -
Page 22: Pixhawk Cable
Figure 11 Connection between Precis-BX305 and UART_to_Data Logger 1.5.3. Pixhawk Cable Pixhawk cable is to connect the board with Pixhawk of UAV from COM1. The following are the pin definition of the two versions. Figure 12 Labels of Precis-BX305 V1.1 & V2.0 Pixhawk Cables TERSUS-GNSS 13... -
Page 23: Radio Module And Cable
(More details please refer to chapter 2.3.1). Radio cable is to connect the board with radio from COM2. The following are the pin definition of the two versions. Figure 14 Labels of Precis-BX305 V1.1 & V2.0 Radio Cables TERSUS-GNSS 14... -
Page 24: Bluetooth Module And Cable
COM2 Figure 15 Connection between Pixhawk and Precis-BX305 1.5.5. Bluetooth Module and Cable The function of Bluetooth module is to communicate the board with Bluetooth instrument (More details please refer to Chapter 2, Section 2.3.2). Bluetooth cable is to connect the board with Bluetooth module from COM2. -
Page 25: Figure 17 Connection Between Bluetooth Module And Precis-Bx305
COM2 Figure 17 Connection between Bluetooth module and Precis-BX305 TERSUS-GNSS 16... -
Page 26: Setting Up The Receiver
2. Setting up the Receiver This chapter describes how to setting up the Precis-BX305 board to make it work. In order to perform RTK positioning, Precis-BX305 need the GNSS signals input from SMA1 and differential data stream input from COM2 port or wireless Internet work. COM1 port is used for configuration and solution output. -
Page 27: Connect To Antenna
Connect to Antenna Precis-BX305 provides a SMA female connector for connecting to GNSS antenna. Both active and passive GNSS antennas are acceptable. For active antenna, Precis-BX305 board can provide 3.3V, up to 100mA current to support LNA. Two recommended Antenna types are shown in Figure 20. -
Page 28: Connect To Base Station
Connect to Base Station RTK technique requires a real-time stream from (virtual) reference station to perform relative position. Considering the signal transmission medium, Precis-BX305 board allows to connect to base station in three manners: wired connection, UHF connection and Wi-Fi connection. -
Page 29: Connect To Base Station With Uhf Radio Module
GNSS RTK is a precise relative positioning technique, which achieves centimeter positioning accuracy. RTK positioning requires two set of Tersus RTK boards at minimum, which are used as the base station and the rover station respectively. Normally, the base station is set up on a fixed known point and it consistently transmits differential corrections to the rover station. -
Page 30: Figure 23 Establish Serial Connection With Tersus Gnss Center
Before starting field work, the first step is to configure the board into the right mode. What you need to do is to connect the board to your PC and key in commands with the Tersus GNSS Center software. The detailed steps are given as follows: ■... -
Page 31: Connect To Cors With External Bluetooth Module And Mobile Phone
The CORS is an appealing way to do RTK due to its convenience and large coverage area. While Tersus Precis-BX305 currently does not support build-in NTRIP client feature. An alternative way to connect CORS network is employing external Bluetooth module and a cellphone. Here is a detailed procedure about how to connect to CORS Network with Precis-BX305 board. -
Page 32: Figure 25 Demonstration Of Connecting Precis Bx305 To Cors Network
Ntrip client (free android apps) （2） Connect to CORS Network Please follow below steps. ■ Connect GNSS antenna to Precis-BX305. ■ Connect external Bluetooth module to either COM1 or COM2 of the board ■ Connect to power supplier and plug in/turn on the power... -
Page 33: Figure 26 Demonstration Of Connecting Bluetooth Module, Mobile Phone, Precis-Bx305 And Supply Supplier
Figure 26 Demonstration of connecting Bluetooth module, mobile phone, Precis-BX305 and supply supplier ■ Turn on the Bluetooth of the mobile phone and scan and pair the mobile phone with the external Bluetooth device. By default, the external Bluetooth device name is „HC-06‟ and the default PIN is „1234‟. -
Page 34: Integration With Autopilots
Pixhawk flight control is used as an example. A cable is used to connect the COM1 port of Precis-BX305 board and the GPS port of the Pixhawk (see Figure 29). It is noticed that the GPS port need a 6pin PicoBlade connector while the COM1 port is a 5pin PicoBlade... -
Page 35: Figure 29 Demonstration Of Integration With Pixhawk Autopilot
Please also pay attention to the baud rate setting of Pixhawk as the default baud rate of Precis-BX305 board is 115200. The Pixhawk can only recognize the NMEA sentence with GP NMEA talker. -
Page 36: Set Up Base Station
Figure 30 Precis-BX305 board is recognized by Pixhawk and Mission Planner 2.5. Set up Base Station RTK positioning requires a rover station and a base station. Normally, the base station is set up on a known point and it is assumed that the base station does not move during RTK positioning procedure (except moving based case). -
Page 37: Antenna Installation
2.5.3. Observation environment GNSS signals can be severely contaminated by multipath effect, so it is necessary to avoid some unnecessary inference from environments. Tersus recommends following conditions when you choose your base station site: ■ Open sky. No blockage/ very few blockage above 15 degree. -
Page 38: Hardware And Software Required
2.6.2. Configuring raw observation output ■ Connect COM1 of the board to your PC with Tersus USB Connector, and then establish a serial connection to board with Tersus GNSS Center. ■ Enter the following commands in the text console window to log the raw observation and broadcast ephemeris data. -
Page 39: Connect To Data Logger
Disconnect with Tersus USB Connector and connect the external data logger to COM1 of Precis-BX305. Connect the GNSS antenna to the board and power up the board. The board can supply power to the data logger and the data logger can automatically log the received data. By default, the data logger accept data stream from serial port at 115200 baud rate. -
Page 40: Export Logged Data And Format Conversion
RINEX 3.2 format with Tersus RINEX Converter or Tersus GNSS Center. Then you can connect the data logger from the mini USB port to your PC, then the data logger works as a USB storage mode. You can access the logged file as just like a USB disk. -
Page 41: Avoid Signal Inference
■ Please keep the anti-static packing box well in case you need transfer Precis-BX305 with it later. 2.7.2. Avoid signal inference Strong electromagnetic inference may interrupt GNSS signal tracking or degrade GNSS positioning performance. Keep your antenna away from following noise source during operation: ■... -
Page 42: Commands Description
3. Commands description 3.1. Overview of Command System Precis-BX305 board allows users modify its configuration with command systems. Here are some general remarks on this command systems: 1. All commands are NOT case-sensitive 2. All log related command must specify the serial port, if the serial port is not specified, then the command is applied to current serial port 3. -
Page 43: Configuring Serial Port Mode (Interfacemode)
COM2 115200 N 8 1 N OFF ON AUTOMATIC AUTOMATIC ON < COM3 115200 N 8 1 N OFF ON NONE NONE ON The response sentences are formatted as: serial port number, baud rate, parity, bits, stop bit, handshake, echo, breaks, receiving mode, transmitting mode, response. TERSUS-GNSS 34... -
Page 44: Satellite Control Commands
0.0~45.0 (a decimal number, not an integer) 3.4. Station Coordinate Control Commands Station coordinate commands are used to manage whether fix the station coordinate. For RTK scenario, the coordinates should be fixed as known value when it serves as the base station. TERSUS-GNSS 35... -
Page 45: Fix Base Station Coordinate (Fix Position)
This command is used to enter a specific geoidal undulation value. The default undulation table is EGM96. Sets ellipsoid-geoid separation Table 20 Name Value Command: Undulation Option [Separation] Example: Undulation osu89b Function: Set ellipsoid-geoid separation Parameters description: Option: undulation table to be used, can be EGM96, OSU89B or USER TERSUS-GNSS 36... -
Page 46: Output Control Commands
0.05/0.1/0.2/0.5/1/2/3/… 3.5.3. Configuring raw observation output (LOG RANGECMPB) This command is used to log the raw observations data of Precis-BX305. The logged observation data can be converted to RINEX format Tersus Rinex Converter software (Download here). TERSUS-GNSS 37... -
Page 47: Configuring Gps Ephemeris Output (Log Gpsephemb)
3.5.5. Configuring GLONASS ephemeris output (LOG GLOEPHEMRISB) This command is used to log GLONASS broadcast ephemeris in binary format. The logged observation data can be converted to RINEX format Tersus Rinex Converter software (Download here). Table 25 Configuring GLONASS ephemeris output... -
Page 48: Configuring Rtcm2 Output (Log Rtcm)
Log port message ontime interval Log com2 rtcm1074 ontime 1 Example: Function: change input/output mode of serial port Parameters description: port: COM1/ COM2 message rtcm1001/rtcm1002/rtcm1003/rtcm1004/rtcm1005/rtcm1006/ rtcm1007/ rtcm1009/ rtcm1010/ rtcm1011/ rtcm1012/ rtcm1019/ rtcm1020/ rtcm1074/ rtcm1075/ rtcm1084/ rtcm1085/ rtcm1124/ rtcm1125 TERSUS-GNSS 39... -
Page 49: Version Information Commands (Log Version)
3.7.1. Saving configurations (SAVECONFIG) This command is used to save current configurations to non-volatile memory. The saved configurations are still valid after reboot the board. TERSUS-GNSS 40... -
Page 50: Reset To Factory Mode (Freset)
LOG COM2 RTCM1084 ONTIME 1.00 0 NOHOLD < LOG COM2 RTCM1124 ONTIME 1.00 0 NOHOLD < LOG COM1 GPGGA ONTIME 0.20 0 NOHOLD < LOG COM1 GPRMC ONTIME 0.20 0 NOHOLD < LOG COM1 GPVTG ONTIME 0.20 0 NOHOLD TERSUS-GNSS 41... -
Page 51: Configuring Pps Output
The above sections introduces the commands to output information, this section introduce the commands to stop outputs. 3.9.1. Cancelling particular output (UNLOG) This command is used to stop specified output. Table 34 Cancel a particular output Name Value TERSUS-GNSS 42... -
Page 52: Cancelling All Output (Unlogall)
Cancelling all output (UNLOGALL) This command is used to stop all output from specified serial port Table 35 Cancell all output Name Value Command: Unlogall port Example: Unlogall COM1 Function: Cancel all output Parameters description: port: COM1 / COM2 TERSUS-GNSS 43... -
Page 53: Specifications
4. Specifications The detailed performance specification and physical specification of Precis-BX305 is introduced in this chapter. 4.1. Performance Specification Table 36 Performance specification of Precis-BX305 Feature Specification Channel Number Supported Signals GPS L1+L2/BDS B1+B3/GLONASS G1 Standard Positioning Accuracy 1.5m Horizontal (RMS) 3.0m... -
Page 54: Physical Specification
4.2. Physical Specification Table 37 Physical Specification of Precis-BX305 Feature Specification 5V DC +5% ~ -3% Power 100mV p-p (Max) Ripple 2.6W (Typical) Power Consumption 50Ω Active Antenna Input Impedance 100mA Max. Antenna Bias Current Draw -85 dBm ~ -105 dBm GNSS input sensitivity 130×... -
Page 55: Output Format
5. Output Format Precis-BX305 board support NMEA0183 format, RTCM 2.X, RTCM 3.2 and private observation format, which are used to transmit its solution and observation respectively. 5.1. NMEA Sentences The National Marine Electronics Association (NMEA) standard defines an electrical interface and data protocol for communications between marine instrumentation. -
Page 56: Rmc Sentence
Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g. GP, GN <1> Time (UTC), format: hhmmss.sss <2> Status, V = Navigation receiver warning <3>Latitude <4> N or S <5>Longitude <6>E or W <7>Speed over ground, knots <8>Track made good, degrees true <9>Date, format:ddmmyy TERSUS-GNSS 47... -
Page 57: Vtg Sentence
<2> Mode: 1: no position 2: 2D position 3:3D position <3>PRN of 1st satellite used for fix <4> PRN of 2nd satellite used for fix <14> PRN of 12th satellite used for fix <15> Positioning Dilution of precision (PDOP) <16> Horizontal Dilution of precision (HDOP) TERSUS-GNSS 48... -
Page 58: Gsv Sentence
RTCM defined a set of message types to deliver different information. 5.2.1. RTCM 2 messages Here is a list of RTCM 2 message types supported by Precis-BX305. More details of RTCM 2.protocols refers to the official document (RTCM10402.3 recommended standards for differential GNSS (Global Navigation Satellite Systems) service version 2.3) -
Page 59: Rtcm 3 Messages
5.2.2. RTCM 3 messages Here is a list of RTCM 3 message types that supported by Precis-BX305. More details of RTCM 2.protocols refers to the official document (RTCM10403.2 Differential GNSS (Global Navigation Satellite Systems) services-Version 3). Table 39 Collection of supported RTCM3.2 message types... - Page 60 1085 GLONASS MSM5, includes pseudorange, carrier phase, phase rate and C/N0 observation 1124 Beidou MSM4, includes pseudorange, carrier phase and C/N0 observation 1125 Beidou MSM5, includes pseudorange, carrier phase, phase rate and C/N0 observation TERSUS-GNSS 51...
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Page 61: Rtk Configure Example
LOG COM2 RTCM1074 ONTIME 1 LOG COM2 RTCM1084 ONTIME 1 LOG COM2 RTCM1124 ONTIME 1 LOG COM2 RTCM1005 ONTIME 10 SAVECONFIG Example of RTK configuration (rover mode): FIX NONE INTERFACEMODE COM1 AUTOMATIC AUTOMATIC ON LOG GPGGA ONTIME 1 SAVECONF TERSUS-GNSS 52... -
Page 62: Trouble Shooting
7. Trouble Shooting 7.1. Why the Precis-BX305 board does not output RTCM data after I key in the RTCM output related commands? It can be caused by following reasons: (1) Fix the coordinate is the prerequisite of RTCM output. Therefore, use Fix position command (see section 3.4.1) to fix the coordinate first. -
Page 63: Terminology
Receiver Independent Exchange format Root Mean Squares Real-Time Kinematic RTCM Radio Technical Commission for Maritime Services Sub-Miniature-A interface TTFF Time to First Fix Transistor-Transistor Logic level UART Universal Asynchronous Receiver/Transmitter Universal Serial BUS WGS84 Word Geodetic System 1984 TERSUS-GNSS 54...
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